Abstract. In this paper, an efficient neighbor AR (Access Router) discovery scheme and handoff procedure using neighbor information are proposed. It allows each AR and Mobility Anchor Point (MAP) to know neighboring ARs and MAPs, and therefore, a mobile node (MN) can perform the handoff process in advance, using the proposed handoff mechanism. It is important to note that the Inter-MAP domain handoff improvement of the proposed scheme is up to about 57% and 33% for handoff latency in comparison of the Hierarchical Mobile IPv6 (HMIPv6) and the Hierarchical Mobile IPv6 with Fast handover (F-HMIPv6), respectively. The proposed scheme is approximately two times better than the existing one in terms of the total signaling costs through performance analysis. Therefore, it is sufficiently satisfied with the requirements of real-time applications, and seamless communication is expected.